Yo Fleyt / Mbed 2 deprecated VirtualForces_with_class

with class

Dependencies:   ISR_Mini-explorer mbed

Fork of VirtualForces by Georgios Tsamis

MiniExplorerCoimbra.hpp@34:c208497dd079, 2017-06-09 (annotated)

Committer:
Ludwigfr
Date:
Fri Jun 09 14:30:21 2017 +0000
Revision:
34:c208497dd079
Parent:
33:814bcd7d3cfe
Child:
35:68f9edbb3cff
okay it compiles

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Ludwigfr 33:814bcd7d3cfe 1 #ifndef MINIEXPLORERCOIMBRA_HPP
Ludwigfr 33:814bcd7d3cfe 2 #define MINIEXPLORERCOIMBRA_HPP
Ludwigfr 33:814bcd7d3cfe 3
Ludwigfr 33:814bcd7d3cfe 4 #include "Map.hpp"
Ludwigfr 33:814bcd7d3cfe 5 #include "Sonar.hpp"
Ludwigfr 34:c208497dd079 6 #include<math.h>
Ludwigfr 34:c208497dd079 7
Ludwigfr 33:814bcd7d3cfe 8
Ludwigfr 33:814bcd7d3cfe 9 /*
Ludwigfr 33:814bcd7d3cfe 10 Robot coordinate system: World coordinate system:
Ludwigfr 33:814bcd7d3cfe 11 ^ ^
Ludwigfr 33:814bcd7d3cfe 12 |x |y
Ludwigfr 33:814bcd7d3cfe 13 <--R O-->
Ludwigfr 33:814bcd7d3cfe 14 y x
Ludwigfr 33:814bcd7d3cfe 15 */
Ludwigfr 33:814bcd7d3cfe 16
Ludwigfr 33:814bcd7d3cfe 17 class MiniExplorerCoimbra {
Ludwigfr 34:c208497dd079 18
Ludwigfr 33:814bcd7d3cfe 19 public:
Ludwigfr 34:c208497dd079 20
Ludwigfr 33:814bcd7d3cfe 21 Map map;
Ludwigfr 33:814bcd7d3cfe 22 Sonar sonarLeft;
Ludwigfr 33:814bcd7d3cfe 23 Sonar sonarFront;
Ludwigfr 33:814bcd7d3cfe 24 Sonar sonarRight;
Ludwigfr 33:814bcd7d3cfe 25 float speed;
Ludwigfr 33:814bcd7d3cfe 26 float radiusWheels;
Ludwigfr 33:814bcd7d3cfe 27 float distanceWheels;
Ludwigfr 33:814bcd7d3cfe 28 float khro;
Ludwigfr 33:814bcd7d3cfe 29 float ka;
Ludwigfr 33:814bcd7d3cfe 30 float kb;
Ludwigfr 33:814bcd7d3cfe 31 float kv;
Ludwigfr 33:814bcd7d3cfe 32 float kh;
Ludwigfr 33:814bcd7d3cfe 33
Ludwigfr 33:814bcd7d3cfe 34 float rangeForce;
Ludwigfr 33:814bcd7d3cfe 35 float attractionConstantForce;
Ludwigfr 33:814bcd7d3cfe 36 float repulsionConstantForce;
Ludwigfr 33:814bcd7d3cfe 37
Ludwigfr 33:814bcd7d3cfe 38 MiniExplorerCoimbra(float defaultX, float defaultY, float defaultTheta);
Ludwigfr 33:814bcd7d3cfe 39
Ludwigfr 33:814bcd7d3cfe 40 void setXYTheta(float x, float y, float theta);
Ludwigfr 33:814bcd7d3cfe 41
Ludwigfr 33:814bcd7d3cfe 42 //generate a position randomly and makes the robot go there while updating the map
Ludwigfr 33:814bcd7d3cfe 43 void randomize_and_map();
Ludwigfr 33:814bcd7d3cfe 44
Ludwigfr 33:814bcd7d3cfe 45 //go the the given position while updating the map
Ludwigfr 33:814bcd7d3cfe 46 void go_to_point_with_angle(float targetX, float targetY, float targetAngle);
Ludwigfr 33:814bcd7d3cfe 47
Ludwigfr 33:814bcd7d3cfe 48 void update_sonar_values(float leftMm,float frontMm,float rightMm);
Ludwigfr 33:814bcd7d3cfe 49
Ludwigfr 33:814bcd7d3cfe 50 float get_converted_robot_X_into_world();
Ludwigfr 33:814bcd7d3cfe 51
Ludwigfr 33:814bcd7d3cfe 52 float get_converted_robot_Y_into_world();
Ludwigfr 33:814bcd7d3cfe 53
Ludwigfr 33:814bcd7d3cfe 54 void do_half_flip();
Ludwigfr 33:814bcd7d3cfe 55
Ludwigfr 33:814bcd7d3cfe 56 //Distance computation function
Ludwigfr 33:814bcd7d3cfe 57 float dist(float robotX, float robotY, float targetX, float targetY);
Ludwigfr 33:814bcd7d3cfe 58
Ludwigfr 33:814bcd7d3cfe 59 float update_angular_speed_wheels_go_to_point_with_angle(float targetX, float targetY, float targetAngle, float dt);
Ludwigfr 33:814bcd7d3cfe 60
Ludwigfr 33:814bcd7d3cfe 61 void try_to_reach_target(float targetXWorld,float targetYWorld);
Ludwigfr 33:814bcd7d3cfe 62
Ludwigfr 33:814bcd7d3cfe 63 void vff(bool* reached, float targetXWorld, float targetYWorld);
Ludwigfr 33:814bcd7d3cfe 64
Ludwigfr 33:814bcd7d3cfe 65 //compute the force on X and Y
Ludwigfr 33:814bcd7d3cfe 66 void compute_forceX_and_forceY(float* forceX, float* forceY, float targetXWorld, float targetYWorld);
Ludwigfr 33:814bcd7d3cfe 67
Ludwigfr 33:814bcd7d3cfe 68 void update_force(int widthIndice, int heightIndice, float* forceX, float* forceY, float xRobotWorld, float yRobotWorld );
Ludwigfr 33:814bcd7d3cfe 69
Ludwigfr 33:814bcd7d3cfe 70 //robotX and robotY are from Odometria, calculate line_a, line_b and line_c
Ludwigfr 33:814bcd7d3cfe 71 void calculate_line(float forceX, float forceY, float *line_a, float *line_b, float *line_c);
Ludwigfr 33:814bcd7d3cfe 72
Ludwigfr 33:814bcd7d3cfe 73 //currently line_c is not used
Ludwigfr 33:814bcd7d3cfe 74 void go_to_line(float line_a, float line_b, float line_c,float targetXWorld, float targetYWorld);
Ludwigfr 33:814bcd7d3cfe 75
Ludwigfr 33:814bcd7d3cfe 76 //return 1 if positiv, -1 if negativ
Ludwigfr 33:814bcd7d3cfe 77 float sign1(float value);
Ludwigfr 33:814bcd7d3cfe 78
Ludwigfr 33:814bcd7d3cfe 79 //return 1 if positiv, 0 if negativ
Ludwigfr 33:814bcd7d3cfe 80 int sign2(float value);
Ludwigfr 33:814bcd7d3cfe 81
Ludwigfr 33:814bcd7d3cfe 82 /*angleToTarget is obtained through atan2 so it s:
Ludwigfr 33:814bcd7d3cfe 83 < 0 if the angle is bettween PI and 2pi on a trigo circle
Ludwigfr 33:814bcd7d3cfe 84 > 0 if it is between 0 and PI
Ludwigfr 33:814bcd7d3cfe 85 */
Ludwigfr 33:814bcd7d3cfe 86 void turn_to_target(float angleToTarget);
Ludwigfr 34:c208497dd079 87
Ludwigfr 34:c208497dd079 88 void print_final_map();
Ludwigfr 34:c208497dd079 89
Ludwigfr 34:c208497dd079 90 void print_final_map_with_robot_position(float robot_x,float robot_y);
Ludwigfr 34:c208497dd079 91
Ludwigfr 34:c208497dd079 92 void print_final_map_with_robot_position_and_target(float robot_x,float robot_y,float targetXWorld, float targetYWorld);
Ludwigfr 33:814bcd7d3cfe 93 };
Ludwigfr 33:814bcd7d3cfe 94
Ludwigfr 34:c208497dd079 95
Ludwigfr 33:814bcd7d3cfe 96 #endif
Ludwigfr 33:814bcd7d3cfe 97